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alpha working state of gretchen humanoid
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@ku3i
ku3i committed Aug 2, 2018
1 parent 1ce59ab commit 8c844b2
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Showing 5 changed files with 39 additions and 32 deletions.
0 bin/Release/simloid → bin/Release/simloid_1.1.0
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2 changes: 1 addition & 1 deletion simloidTCP.cbp
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Expand Up @@ -26,7 +26,7 @@
<Compiler>
<Add option="-Wextra" />
<Add option="-Wall" />
<Add option="-std=c++11" />
<Add option="-std=c++14" />
</Compiler>
<Linker>
<Add option="-lpthread" />
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6 changes: 3 additions & 3 deletions src/basic/constants.h
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Expand Up @@ -35,9 +35,9 @@ namespace constants {
* realistic behavior on all the simloid robots created
* so far. Don't change them recklessly. */
const double fluid_friction = 0.1;
const double coulomb_friction = 0.1;
const double sticking_friction = 2 * coulomb_friction;
const double stiction_range = 0.01; // 1% of normed velocity
constexpr double coulomb_friction = 0.1;
constexpr double sticking_friction = 2 * coulomb_friction;
constexpr double stiction_range = 0.01; // 1% of normed velocity

/* bristle model */
const double bristle_displ_max = 0.01;
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2 changes: 1 addition & 1 deletion src/build/bioloid.cpp
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Expand Up @@ -50,7 +50,7 @@ void Bioloid::create_robot(Robot& robot, int index_number, std::vector<double> p
case 50: Robots::Biped ::create_humanoid0 (robot); break;
case 51: Robots::Biped ::create_humanoid1 (robot); break;

case 55: Robots::Gretchen ::create_gretchen0 (robot); break;
case 55: Robots::Gretchen ::create_gretchen0 (robot, params); break;

case 60: Robots::Nolegs ::create_worm (robot); break;

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61 changes: 34 additions & 27 deletions src/robots/gretchen.h
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Expand Up @@ -30,14 +30,19 @@ namespace Gretchen {
};

void
create_gretchen0(Robot& robot)
create_gretchen0(Robot& robot, std::vector<double> model_parameter)
{
dsPrint("Creating Gretchen...");
const double friction = constants::friction::normal;

/* shortening knees!! */
const double unit_len = 0.23;

const double D = 0.08;
const double D = 0.10;

double X = 2*rnd(1.0);//5*rnd(1.0);

dsPrint("with random factor: %1.3f", X);

/* head */
const CapConf head ( {3, .0 , unit_len/2 }, {0. , 0., unit_len*4.50 + D} );
Expand Down Expand Up @@ -70,7 +75,7 @@ create_gretchen0(Robot& robot)

/* body */
robot.create_segment("head", head .pos , head .dim, 0, constants::materials::light , colors::black, true , friction);
robot.create_segment("neck", neck .pos , neck .dim, 0, constants::materials::light , colors::black, false, friction);
robot.create_segment("neck", neck .pos , neck .dim, 0, constants::materials::light , colors::invisible, false, friction);
robot.create_segment("upto", torso_upper .pos , torso_upper .dim, 0, constants::materials::light , colors::white, true , friction);
robot.create_segment("mito", torso_middle.pos , torso_middle.dim, 0, constants::materials::light , colors::black, false, friction);
robot.create_segment("loto", torso_lower .pos , torso_lower .dim, 0, constants::materials::light , colors::white, false, friction);
Expand Down Expand Up @@ -106,42 +111,44 @@ create_gretchen0(Robot& robot)
robot.create_box ("rift", foot .pos._x(), foot .dim, 0, constants::materials::heavy , colors::white, true , friction);

//robot.attach_segment("left", pos, 3, 0, 0.02, 0, constants::materials::heavy, colors::orange, true, friction );
Vector3 foot_joint_pos = Vector3{0.5*foot.dim.y - leg_lower.dim.rad, foot.dim.z+ankle.dim.rad, 0.0};

/* connect with joints */
robot.connect_joint("neck", "head", .0, .0, -.5*head.dim.len - 0.5*head.dim.rad, 'x', -60, +45, -10, JointType::normal , "neck_pitch" , "");
robot.connect_joint("upto", "neck", .0, .0, +.5*head.dim.rad , 'y', -45, +45, 0, JointType::normal , "neck_roll" , "");
robot.connect_joint("upto", "mito", .0, .0, .0, 'y', -45, +45, 0, JointType::normal , "waistroll" , "", 10);
robot.connect_joint("mito", "loto", .0, .0, .25*unit_len, 'x', -10, +60, -5, JointType::normal , "waistpitch" , "", 10);
robot.connect_joint("neck", "head", .0, .0, -.5*head.dim.len - 0.5*head.dim.rad, 'x', -60, +45, -10 + rnd(X), JointType::normal , "neck_pitch" , "");
robot.connect_joint("upto", "neck", .0, .0, +.5*head.dim.rad , 'y', -45, +45, 0 + rnd(X), JointType::normal , "neck_roll" , "");
robot.connect_joint("upto", "mito", .0, .0, .0, 'y', -45, +45, 0 + rnd(X), JointType::normal , "waistroll" , "", 10);
robot.connect_joint("mito", "loto", .0, .0, .25*unit_len, 'x', -10, +60, -5 + rnd(X), JointType::normal , "waistpitch" , "", 10);

robot.connect_joint("upto", "lshd", .0, .0, .0, 'x', -120, +60, 0 + rnd(X), JointType::normal , "lshoulderpitch", "" ); // 180 deg is not enough
robot.connect_joint("upto", "rshd", .0, .0, .0, 'x', -120, +60, 0 + rnd(X), JointType::symmetric, "rshoulderpitch", "lshoulderpitch");

robot.connect_joint("upto", "lshd", .0, .0, .0, 'x', -120, +60, +0, JointType::normal , "lshoulderpitch", "" ); // 180 deg is not enough
robot.connect_joint("upto", "rshd", .0, .0, .0, 'x', -120, +60, +0, JointType::symmetric , "rshoulderpitch", "lshoulderpitch");
robot.connect_joint("lshd", "lau0", .0, .0, +.50*arm_upper0.dim.len, 'y', -90, +150, +20 + rnd(X), JointType::normal , "lshoulderroll" , "" ); //TODO joint range
robot.connect_joint("rshd", "rau0", .0, .0, +.50*arm_upper0.dim.len, 'Y', -90, +150, +20 + rnd(X), JointType::symmetric, "rshoulderroll" , "lshoulderroll" );

robot.connect_joint("lshd", "lau0", .0, .0, +.50*arm_upper0.dim.len, 'y', - 90, +150, +20, JointType::normal , "lshoulderroll" , "" ); //TODO joint range
robot.connect_joint("rshd", "rau0", .0, .0, +.50*arm_upper0.dim.len, 'Y', - 90, +150, +20, JointType::symmetric, "rshoulderroll" , "lshoulderroll" );
robot.connect_joint("lau0", "lau1", .0, .0, +.25*arm_upper1.dim.len, 'Z', -90, +90, 10 + rnd(X), JointType::normal , "lshoulderyaw" , "" );
robot.connect_joint("rau0", "rau1", .0, .0, +.25*arm_upper1.dim.len, 'z', -90, +90, 10 + rnd(X), JointType::symmetric, "rshoulderyaw" , "lshoulderyaw" );

robot.connect_joint("lau0", "lau1", .0, .0, +.25*arm_upper1.dim.len, 'Z', - 90, + 90, 10, JointType::normal , "lshoulderyaw" , "" );
robot.connect_joint("rau0", "rau1", .0, .0, +.25*arm_upper1.dim.len, 'z', - 90, + 90, 10, JointType::symmetric, "rshoulderyaw" , "lshoulderyaw" );
robot.connect_joint("lau1", "lalo", .0, .0, +.50*arm_lower.dim.len, 'x', 0, 120, 30 + rnd(X), JointType::normal , "lelbowpitch" , "" );
robot.connect_joint("rau1", "ralo", .0, .0, +.50*arm_lower.dim.len, 'x', 0, 120, 30 + rnd(X), JointType::symmetric, "relbowpitch" , "lelbowpitch" );

robot.connect_joint("lau1", "lalo", .0, .0, +.50*arm_lower.dim.len, 'x', 0, +120, +30, JointType::normal , "lelbowpitch" , "" );
robot.connect_joint("rau1", "ralo", .0, .0, +.50*arm_lower.dim.len, 'x', 0, +120, +30, JointType::symmetric, "relbowpitch" , "lelbowpitch" );

robot.connect_joint("loto", "lhip", .0, .0, .0 , 'x', -30, 90, 8 + rnd(X), JointType::normal , "lhippitch" , "" , 10);
robot.connect_joint("loto", "rhip", .0, .0, .0 , 'x', -30, 90, 8 + rnd(X), JointType::symmetric, "rhippitch" , "lhippitch" , 10);

robot.connect_joint("loto", "lhip", .0, .0, .0 , 'x', - 30, + 90, +8, JointType::normal , "lhippitch" , "" , 10);
robot.connect_joint("loto", "rhip", .0, .0, .0 , 'x', - 30, + 90, +8, JointType::symmetric , "rhippitch" , "lhippitch" , 10);
robot.connect_joint("lhip", "llu0", .0, .0, +.50*leg_upper0.dim.len, 'y', -90, 90, 1 + rnd(X), JointType::normal , "lhiproll" , "" , 10);
robot.connect_joint("rhip", "rlu0", .0, .0, +.50*leg_upper0.dim.len, 'Y', -90, 90, 1 + rnd(X), JointType::symmetric, "rhiproll" , "lhiproll" , 10);

robot.connect_joint("lhip", "llu0", .0, .0, +.50*leg_upper0.dim.len, 'y', - 90, + 90, +1, JointType::normal , "lhiproll" , "" , 10);
robot.connect_joint("rhip", "rlu0", .0, .0, +.50*leg_upper0.dim.len, 'Y', - 90, + 90, +1, JointType::symmetric, "rhiproll" , "lhiproll" , 10);
robot.connect_joint("llu0", "llu1", .0, .0, +.50*leg_upper1.dim.len, 'Z', -30, 60, 0 + rnd(X), JointType::normal , "lhipyaw" , "" , 10);
robot.connect_joint("rlu0", "rlu1", .0, .0, +.50*leg_upper1.dim.len, 'z', -30, 60, 0 + rnd(X), JointType::symmetric, "rhipyaw" , "lhipyaw" , 10);

robot.connect_joint("llu0", "llu1", .0, .0, +.50*leg_upper1.dim.len, 'Z', - 30, + 60, 0, JointType::normal , "lhipyaw" , "" , 10);
robot.connect_joint("rlu0", "rlu1", .0, .0, +.50*leg_upper1.dim.len, 'z', - 30, + 60, 0, JointType::symmetric, "rhipyaw" , "lhipyaw" , 10);
robot.connect_joint("llu1", "lllo", .0, .0, +.50*leg_lower.dim.len, 'x', -120, 0, -16 + rnd(X), JointType::normal , "lkneepitch" , "" , 10);
robot.connect_joint("rlu1", "rllo", .0, .0, +.50*leg_lower.dim.len, 'x', -120, 0, -16 + rnd(X), JointType::symmetric, "rkneepitch" , "lkneepitch" , 10);

robot.connect_joint("llu1", "lllo", .0, .0, +.50*leg_lower.dim.len, 'x', -120, 0, -16, JointType::normal , "lkneepitch" , "" , 10);
robot.connect_joint("rlu1", "rllo", .0, .0, +.50*leg_lower.dim.len, 'x', -120, 0, -16, JointType::symmetric, "rkneepitch" , "lkneepitch" , 10);
robot.connect_joint("lllo", "lean", .0, .0, .0 , 'x', -45, 45, 9.0 + rnd(X), JointType::normal , "lanklepitch" , "" , 10);
robot.connect_joint("rllo", "rian", .0, .0, .0 , 'x', -45, 45, 9.0 + rnd(X), JointType::symmetric, "ranklepitch" , "lanklepitch" , 10);

robot.connect_joint("lllo", "lean", .0, .0, .0 , 'x', -45, +45, +8, JointType::normal , "lanklepitch" , "" , 10);
robot.connect_joint("rllo", "rian", .0, .0, .0 , 'x', -45, +45, +8, JointType::symmetric , "ranklepitch" , "lanklepitch" , 10);
robot.connect_joint("lean", "left", .0, 0.5*foot.dim.y - leg_lower.dim.rad, foot.dim.z+ankle.dim.rad, 'y', -45, +45, 0, JointType::normal, "lankleroll", "",10);
robot.connect_joint("rian", "rift", .0, 0.5*foot.dim.y - leg_lower.dim.rad, foot.dim.z+ankle.dim.rad, 'Y', -45, +45, 0, JointType::symmetric, "rankleroll", "lankleroll",10);
robot.connect_joint("lean", "left", .0, foot_joint_pos.x, foot_joint_pos.y, 'y', -45, 45, 0 + rnd(X), JointType::normal , "lankleroll" , "" , 10);
robot.connect_joint("rian", "rift", .0, foot_joint_pos.x, foot_joint_pos.y, 'Y', -45, 45, 0 + rnd(X), JointType::symmetric, "rankleroll" , "lankleroll" , 10);

/* attach sensors */
robot.attach_accel_sensor("head",true);
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